关键词: 硬式加油, 耦合, 解耦控制, 非线性反馈线性化

Abstract:

The boom mathematical model was built based on the analysis of boom air-refuelling technique. It is indicated that the boom system was a typical multiple input multple output (MIMO)and input/output(I/O)coupled nonlinear system,in which the pitch and roll movements were coupled. So decoupling control of boom refuelling system was the key problem in the design of boom system. A nonlinear decoupling algorithm due to differential geometry theory was proposed via inputoutput feedback linearization to control the boom system.

Key words: boom , refuelling , systems,  , couple,  , decoupling , control,  , nonlinear , feedback , linearization